#include <memory>
#include <gtest/gtest.h>
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/trajectory_generator_ptp.h>
#include "test_utils.h"
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>

Include dependency graph for unittest_trajectory_generator_ptp.cpp:

Classes
class	TrajectoryGeneratorPTPTest

Functions
const std::string	PARAM_PLANNING_GROUP_NAME ("planning_group")

const std::string	PARAM_TARGET_LINK_NAME ("target_link")

const std::string	JOINT_POSITION_TOLERANCE ("joint_position_tolerance")

const std::string	JOINT_VELOCITY_TOLERANCE ("joint_velocity_tolerance")

const std::string	JOINT_ACCELERATION_TOLERANCE ("joint_acceleration_tolerance")

const std::string	POSE_TRANSFORM_MATRIX_NORM_TOLERANCE ("pose_norm_tolerance")

	TEST_F (TrajectoryGeneratorPTPTest, TestExceptionErrorCodeMapping)
	Checks that each derived MoveItErrorCodeException contains the correct error code.

	TEST_F (TrajectoryGeneratorPTPTest, noLimits)
	Construct a TrajectoryGeneratorPTP with no limits given.

	TEST_F (TrajectoryGeneratorPTPTest, emptyRequest)
	Send an empty request, define res.trajectory.

	TEST_F (TrajectoryGeneratorPTPTest, missingVelocityLimits)
	Construct a TrajectoryGeneratorPTP with missing velocity limits.

	TEST_F (TrajectoryGeneratorPTPTest, missingDecelerationimits)
	Construct a TrajectoryGeneratorPTP missing deceleration limits.

	TEST_F (TrajectoryGeneratorPTPTest, testInsufficientLimit)
	test the constructor when insufficient limits are given

	TEST_F (TrajectoryGeneratorPTPTest, testCartesianGoal)
	test the ptp trajectory generator of Cartesian space goal

	TEST_F (TrajectoryGeneratorPTPTest, testCartesianGoalMissingLinkNameConstraints)
	Check that missing a link_name in position or orientation constraints is detected.

	TEST_F (TrajectoryGeneratorPTPTest, testInvalidCartesianGoal)
	test the ptp trajectory generator of invalid Cartesian space goal

	TEST_F (TrajectoryGeneratorPTPTest, testJointGoalAlreadyReached)
	test the ptp trajectory generator of joint space goal which is close enough to the start which does not need to plan the trajectory

	TEST_F (TrajectoryGeneratorPTPTest, testScalingFactor)
	test scaling factor with zero start velocity

	TEST_F (TrajectoryGeneratorPTPTest, testJointGoalAndAlmostZeroStartVelocity)
	test the ptp trajectory generator of joint space goal with (almost) zero start velocity

	TEST_F (TrajectoryGeneratorPTPTest, testJointGoalNoStartVel)
	test the ptp_ trajectory generator of joint space goal with zero start velocity

int	main (int argc, char **argv)

Function Documentation

◆ JOINT_ACCELERATION_TOLERANCE()

const std::string JOINT_ACCELERATION_TOLERANCE ( "joint_acceleration_tolerance" )

◆ JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE ( "joint_position_tolerance" )

◆ JOINT_VELOCITY_TOLERANCE()

const std::string JOINT_VELOCITY_TOLERANCE ( "joint_velocity_tolerance" )

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 981 of file unittest_trajectory_generator_ptp.cpp.

◆ PARAM_PLANNING_GROUP_NAME()

const std::string PARAM_PLANNING_GROUP_NAME ( "planning_group" )

◆ PARAM_TARGET_LINK_NAME()

const std::string PARAM_TARGET_LINK_NAME ( "target_link" )

◆ POSE_TRANSFORM_MATRIX_NORM_TOLERANCE()

const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE ( "pose_norm_tolerance" )

◆ TEST_F() [1/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		emptyRequest
	)

Send an empty request, define res.trajectory.

Test Sequence:
1. Create request, define a trajectory in the result
2. assign at least one joint limit will all required limits
Expected Results:
1. the res.trajectory should be cleared (contain no waypoints)

Definition at line 197 of file unittest_trajectory_generator_ptp.cpp.

◆ TEST_F() [2/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		missingDecelerationimits
	)

Construct a TrajectoryGeneratorPTP missing deceleration limits.

Definition at line 244 of file unittest_trajectory_generator_ptp.cpp.

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◆ TEST_F() [3/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		missingVelocityLimits
	)

Construct a TrajectoryGeneratorPTP with missing velocity limits.

Definition at line 219 of file unittest_trajectory_generator_ptp.cpp.

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◆ TEST_F() [4/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		noLimits
	)

Construct a TrajectoryGeneratorPTP with no limits given.

Definition at line 180 of file unittest_trajectory_generator_ptp.cpp.

◆ TEST_F() [5/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		testCartesianGoal
	)

test the ptp trajectory generator of Cartesian space goal

Definition at line 351 of file unittest_trajectory_generator_ptp.cpp.

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◆ TEST_F() [6/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		testCartesianGoalMissingLinkNameConstraints
	)

Check that missing a link_name in position or orientation constraints is detected.

Definition at line 400 of file unittest_trajectory_generator_ptp.cpp.

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◆ TEST_F() [7/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		TestExceptionErrorCodeMapping
	)

Checks that each derived MoveItErrorCodeException contains the correct error code.

Definition at line 164 of file unittest_trajectory_generator_ptp.cpp.

◆ TEST_F() [8/13]

TEST_F	(	TrajectoryGeneratorPTPTest	,
		testInsufficientLimit
	)

test the constructor when insufficient limits are given

Test Sequence:
1. assign joint limits without acc and dec
2. assign at least one joint limit per group with all required limits
Expected Results:
1. the constructor throws an exception of type TrajectoryGeneratorInvalidLimitsException
2. the constructor throws no exception

Definition at line 276 of file unittest_trajectory_generator_ptp.cpp.

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